CN105158769B - Double-linkage Prosthetic Hand laser scanning imaging system based on MOEMS devices - Google Patents
Double-linkage Prosthetic Hand laser scanning imaging system based on MOEMS devices Download PDFInfo
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- CN105158769B CN105158769B CN201510453995.1A CN201510453995A CN105158769B CN 105158769 B CN105158769 B CN 105158769B CN 201510453995 A CN201510453995 A CN 201510453995A CN 105158769 B CN105158769 B CN 105158769B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
Abstract
The invention belongs to laser three-dimensional imaging field, more particularly to a kind of Double-linkage Prosthetic Hand scanning laser 3-D imaging system based on MOEMS devices.Including field programmable gate array, pulse laser, the first lens, the second lens, beam splitter, photodiode, transmitter module, receiving module, APD detectors, signal processing circuit.The system realizes the scan mode of Prosthetic Hand retinal structure using Double-linkage MOEMS, while according to MOEMS device properties, MOEMS device drive voltages are controlled by algorithm, forms the variable resolution scanning track of Prosthetic Hand, realizes and target variable-resolution is imaged.Because scan mode is scanned in the way of ring from inside to outside is selected, the image information that whole visual field is obtained is the log-polar transition form of target.The present invention can not only realize big view field imaging, at the same can down redundant data, have the advantages that high resolution, image taking speed are fast, data compression ratio is big, applicability is wide.
Description
Technical field
The invention belongs to laser three-dimensional imaging field, the Double-linkage Prosthetic Hand laser more particularly to based on MOEMS devices
Scanning imaging system.
Background technology
With the development of computer technology and digital informationization technology, and to detecting the demand of target three-dimensional information,
On the basis of range measurement principle, laser three-dimensional imaging has been developed.Current laser three-dimensional imaging can be divided into according to imaging mode to be swept
High-resolution imaging, but traditional mechanical scanning mode can be realized with Non-scanning mode (array) mode, wherein scan mode by retouching
Imaging rate is low, therefore can not take into account high-resolution and high imaging rate simultaneously；Compared with scanning imagery mode, Non-scanning mode mode
Planar array detector is relied primarily on to be imaged the target in certain field range, can be directly to target imaging, imaging rate
It hurry up, but its core component (highly-sensitive detector) is by the serious restriction of current processing technology, large area array APD detector arrays
It is difficult to obtain, so imaging mode is still based on scanning imagery mode at present.Because convention scanning scheme can not meet right at present
The requirement of the high-resolution of imaging system high imaging rate simultaneously, therefore how to realize that high-resolution and high-speed imaging are laser
Three-dimensional imaging key technology difficulty urgently to be resolved hurrily.Research shows that the photosensory cell of retina is non-homogeneous arrangement in human eye,
Central intensive, periphery sparse distribution feature is showed, while on the one hand this make it that human eye has big visual field observation, additionally it is possible to high
Resolution ratio stares object observing；On the other hand, because human eye retina and cortex have approximate log polar-mapping relation,
Human eye is enabled to compress periphery redundant data while high-resolution stares object observing, so as to by big data quantity
Target image processing is transformed into for a small number of according to amount image procossing of target, human eye is had the characteristic to Information Compression.These
The problem of feature takes into account high-resolution and high imaging rate for solution provides a kind of new solution route.
Therefore, being inspired by human eye retina's structure, this patent proposes a kind of Double-linkage MOEMS types Prosthetic Hand scanning and swashed
Light 3-D imaging system.In terms of scan mode, compared with traditional rectangular scan mode, this patent proposes a kind of Prosthetic Hand
Non-homogeneous scan mode, while being imaged to target high-resolution interested, outer peripheral areas is carried out low resolution into
Picture, and can log-polar transform, effectively reduce data processing amount, improve imaging rate；In terms of scanning device, with machine
The Scan Architectures such as tool, acousto-optic, electric light, grating are compared, and make use of micro-optics technology to make with the MOEMS that MEMS manufacturing process is combined
For scanning device, it has following features：1) small volume, lightweight, can reduce system on the premise of image-forming condition is met
Volume；2) scan frequency is high, can reach kHz grades of scan frequencies, be conventional scanners part frame in detector under the same conditions
The several times of frequency, are that this can increase substantially laser three-dimensional imaging speed.
The content of the invention
The invention aims to solve conventional laser three-dimensional imaging presence can not take into account high-resolution and imaging speed
There is provided the Double-linkage Prosthetic Hand laser scanning imaging system based on MOEMS devices for rate problem.
The purpose of the present invention is achieved through the following technical solutions.
Double-linkage Prosthetic Hand laser scanning imaging system based on MOEMS devices, Prosthetic Hand is realized using Double-linkage MOEMS
The scan mode of retinal structure, i.e., carry out non-homogeneous circular scanning and reception according to the arrangement mode of human eye photosensory cell, because
This can realize the imaging that resolution changable is carried out to target.Because scan mode is swept in the way of ring from inside to outside is selected
Retouch, the image information that whole visual field is obtained is the log-polar transition form of target, therefore the maximum feature of this method is
Obtained image is log-polar depth image, and an important feature of log-polar conversion is with data redundancy
The property of compression, it is thus possible to realize the purpose of fast imaging.In order to realize the scanning of Prosthetic Hand non-uniform resolution with receiving, this
Invention is using two MOEMS Double-linkage structures, while according to MOEMS device properties, controlling MOEMS devices to drive by certain algorithm
Dynamic voltage, forms the variable resolution scanning track of Prosthetic Hand.
Double-linkage Prosthetic Hand laser scanning imaging system based on MOEMS devices, including field programmable gate array
(FPGA), pulse laser, the first lens, the second lens, beam splitter, photodiode, transmitter module, receiving module, APD are visited
Survey device, signal processing circuit.
Its signal is moved towards and annexation is：
FPGA sends trigger signal to pulse laser, and trigger pulse laser sends a branch of narrow laser pulse, laser
Pulse is after the first lens, into beam splitter, and laser pulse is divided into two beams by beam splitter.A part is converged by the second lens
In photodiode, the electric signal that photodiode is produced inputs to FPGA as timing commencing signal；Another part is by hair
Penetrate after module and be radiated in target, the scanning of Prosthetic Hand non-uniform resolution is carried out to target, time reflected by target or scattered
Ripple is converged on APD detectors received by receiving module according to Prosthetic Hand non-uniform resolution simultaneously after, what APD detectors were produced
Current signal generates timing stop signal after signal processing circuit and inputs to FPGA.Pass through certain moment identification method sum
According to reading, carry out log-polar conversion and calculate the distance between system and target, realize laser three-dimensional imaging.
Wherein, transmitter module includes transmitting MOEMS, control signal, the 3rd lens, the 4th lens.
Its signal is moved towards and annexation is：
The laser pulse isolated from beam splitter is beaten on transmitting MOEMS speculums first, and control signal is produced by FPGA
Control transmitting MOEMS rotations, generate the circular scanning shape of Prosthetic Hand non-uniform resolution, by the 3rd lens, the 4th lens
Expand, be radiated in target after collimating effect.
Wherein, receiving module includes the 5th lens, receives MOEMS, control signal.
Its signal is moved towards and annexation is：
The convergence effect of the 5th lens is first passed around from target reflection or the echo scattered, MOEMS reflections are then received
Mirror is reflected on APD detectors.Also control receives MOEMS rotations to the control signal that now FPGA is produced simultaneously, realizes two
MOEMS Double-linkage.
Beneficial effect
(1) the Double-linkage Prosthetic Hand laser scanning imaging system proposed by the present invention based on MOEMS devices, according to Prosthetic Hand
Circular scanning mode realize to the collection of the variable resolution of target, can be while being observed with larger field, additionally it is possible to high score
Resolution object observing.
(2) the Double-linkage Prosthetic Hand laser scanning imaging system proposed by the present invention based on MOEMS devices, data, which are extracted, is
Read in the way of ring from inside to outside is selected, therefore the log-polar transform of image can be realized, redundancy can be carried out to data
Compression, reduces system data treating capacity, is adapted to the occasion being had higher requirements to imaging rate.
(3) the Double-linkage Prosthetic Hand laser scanning imaging system proposed by the present invention based on MOEMS devices, utilizes two
MOEMS Double-linkage structures realize circular scanning and the reception of Prosthetic Hand, and fast with sweep speed, the advantage of small volume can overcome
The inefficiency of tradition machinery scanning, bulky shortcoming.
Brief description of the drawings
Fig. 1 is present system schematic diagram；
Fig. 2 is circular scanning trajectory diagram of the present invention；
Fig. 3 is present invention scanning object delineation；
Fig. 4 is circular scanning voltage product process figure of the present invention；
Fig. 5 is log-polar coordinate mapping figure of the present invention；
Wherein, 1-FPGA, 2- trigger signal, 3- pulse lasers, the lens of 4- first, 5- beam splitters, the lens of 6- second, 7-
Photodiode, 8- timing commencing signal, 9- voltage control signals, 10- transmitter modules, 11- transmittings MOEMS, 12- the 3rd are saturating
Mirror, the lens of 13- the 4th, 14- air, 15- targets, 16- receiving modules, the lens of 17- the 5th, 18- receive MOEMS, 19-APD and visited
Survey device, 20- signal processing circuits, 21- timing stop signal, 22- blind holes radius, the annular radiis of 23- first, the annulus of 24- second
Radius, the annular radiis of 25- the 3rd, 26- M annular radiis, 27- blind holes region, the first rings of 28- sweep radius, the rings of 29- second are swept
Retouch radius, the ring sweep radius of 30- the 3rd, the i-th rings of 31- sweep radius, 32- M rings sweep radius, 33- cartesian coordinates, 34-
Log-polar.
Embodiment
The embodiment of the present invention is illustrated below in conjunction with accompanying drawing.
Double-linkage Prosthetic Hand laser scanning imaging system based on MOEMS devices, including FPGA1, pulse laser 3,
One lens 4, beam splitter 5, photodiode 7, transmitter module 10, receiving module 16, APD detectors 19, signal processing circuit 20.
System principle：As shown in figure 1, the solid line in figure represents electric signal, dotted line represents lightwave signal, and FPGA1 is to pulse
Laser 3 sends trigger signal so that pulse laser sends a branch of narrow laser pulse, and laser pulse passes through the first lens 4
Afterwards, into beam splitter 5.A part is converged on photodiode 7 by the second lens 6, is inputed to as timing commencing signal
FPGA1；Another part is radiated at after transmitter module 10 in target 15, and transmitter module 10 includes transmitting MOEMS, control signal
9th, the 3rd lens 12, the 4th lens 13, FPGA1 produce voltage control signal 9, and driving transmitting MOEMS 11 rotates so that laser
Pulse by the 3rd lens 12, the collimation of the 4th lens 14, expand effect after, according to the circular scanning rail of Prosthetic Hand variable resolution
Mark is scanned to target 15, and the echo for reflecting or scattering by target 15 is by receiving module 16 also according to Prosthetic Hand variable resolution
Circular scanning track receive, receiving module 16 include the 5th lens 17, receive MOEMS 18, voltage control signal 9.Pulse is returned
Ripple is beaten after the convergence of the 5th lens 17 is receiving MOEMS 18, and voltage control signal 9 drives reception MOEMS 18 to rotate simultaneously,
Realize the Double-linkage with transmitting MOEMS 11.Pulse echo is converged on APD detectors 19, and the current signal of generation passes through signal
Timing stop signal is generated after process circuit 20, FPGA1 is inputed to and stops timing, FPGA1 by certain moment identification method and
Digital independent, carries out log-polar conversion and calculates the distance between system and target, realize laser three-dimensional imaging.
Wherein, FPGA1, pulse laser 3, the first lens 4, beam splitter 5, photodiode 7, APD detectors 19, signal
Process circuit 20 is conventional constructional device, and non-this patent discusses emphasis.The voltage control signal 9 of FPGA1 generations is controlled simultaneously
Launch MOEMS11 and receive MOEMS18 direction of rotation and angle, target 15 is entered according to the circular pattern of Prosthetic Hand variable resolution
Row scanning and echo reception, wherein circular scanning track as shown by the dash line in figure 2, wherein every dotted line passes through N number of tangent annulus
The center of circle, common M bars.Annulus on every dotted line is tangent two-by-two, and the annulus of adjacent dotted line is tangent two-by-two, and first is swept on track
Annulus is tangent with blind hole, and center is blind hole.Assuming that the blind hole radius 22 of scanning element is r0, with blind hole first circle tangent ring half
Footpath 23 is r1.Blind hole center of circle circle center line connecting angle adjacent with the two of tangent first annulus 23 isIt can then be calculated by following formula
First annular radii 23r1。
In order to realize that the log-polar of Prosthetic Hand is converted, the radius of two neighboring tangent annulus is met etc. than condition, if
Interannular radius growth factor is q, then
I-th annular radii is represented by：
ri=r1qi-1(i=1,2 ..., M) (3)
M annular radiis 26 are then rM=r1qM-1。
Fig. 3 is scanning object delineation, if the first ring sweep radius 28 is D1, the second ring sweep radius 29 is D2, the 3rd ring
Sweep radius 30 is D3, the i-th ring sweep radius 31 is Di, M rings sweep radius 32 is DM, then
D1=r1+r0 (4)
D2=r2+2r1+r0 (5)
D3=r3+2r2+2r1+r0 (6)
Di=ri+2ri-1+......+2r1+r0 (7)
Assuming that the ω of size 2 of visual field and the scanning element center of circle correspondence on L, each ring of scanning track of target are measured
The subtended angle that pulse laser beam sends a little is θi, then each ring subtended angle be represented by：
Before each scanning element that calculating MOEMS is controlled really Pipe Cutting pin voltage data, monocyclic electricity need to be first obtained
Press control data.Because the MOEMS corresponding voltage-controlled telescopic arm of four pins is Symmetric Orthogonal distribution, therefore swept to produce
Annular trace is retouched, it is necessary to export the sinusoidal signal that four tunnel phase intervals are 90 °.
According to MOEMS technical parameter, in pin -4000~4000mV of pressure difference, angle range is-β~β.Therefore generate
The key of voltage control signal 9 is the variation coefficient U of voltage between acquisition ring groupi。
Obtaining between monocyclic scanning voltage control data and ring group after voltage change coefficient, it is N number of per ring in order to obtain M rings
The scan data of point splits to obtain base group ring group voltage data, it is necessary to carry out N equal portions in monocyclic scanning voltage control data, then
Voltage change coefficient U between ring group is added before base group ring group datai, you can obtain the voltage control number of every bit on each ring
According to flow chart is as shown in Figure 4.
In order to produce Prosthetic Hand variable resolution circular scanning track, it is necessary to which inputting two parameters scans number of rings and per ring bag
The points contained.According to monocyclic number of scan points N, calculate and segment the number of degrees, i.e. scanning element along circular scanning rail in the week obtained in monocyclic angle
Mark moves once corresponding angle number, and monocyclic scan control algorithm is formed by the circumference subdivision number of degrees.According to scanning number of rings M, meter
Calculate and obtain circular scanning radial direction high-subdividing number, obtain scanning annular radii and become scaling method.Monocyclic scan control algorithm and scanning are justified
Ring radius becomes scaling method and synthesized, and obtains composition algorithm, generates the digital voltage of circular scanning point.The voltage data point is defeated
Enter FPGA1, produce voltage control signal 9 and drive transmitting MOEMS11 simultaneously and receive MOEMS18, realize Double-linkage and to target
15 carry out the scanning of Prosthetic Hand variable resolution and the reception of laser pulse echo.FPGA is calculated by certain moment identification method
The distance between system and target, realize high-resolution, quick laser three-dimensional imaging.
One important feature of human eye retina's structure is to meet log-polar coordinate mapping, the property compressed with data redundancy
Matter, can reduce data processing amount, improve imaging efficiency.Log-polar 34 is another image different from cartesian coordinate 33
Expression way, represents scene plane coordinates position, the corresponding coordinate transformation relation of log-polar 34 is such as with cartesian coordinate 33
Shown in Fig. 5, because scan mode is scanned in the way of ring form slection from inside to outside, each measurement data point data need to only be pressed
Mode according to Fig. 5 is read, and the image information that whole visual field is obtained is the log-polar transition form of target, therefore this method
Maximum feature be that obtained image is log-polar depth image.
In summary, compared to more traditional laser three-dimensional imaging system, a kind of Double-linkage MOEMS types Prosthetic Hand scanning laser
3-D imaging system, can not only realize big view field imaging, at the same can down redundant data, with high resolution, imaging speed
The advantages of degree is fast, data compression ratio is big, applicability is wide.
Presently preferred embodiments of the present invention is these are only, is not intended to limit the scope of the present invention.It is all in this hair
Within bright spirit and principle, any modification, equivalent substitution and improvements made etc. should be included in protection scope of the present invention
Within.
Claims (1)
1. the Double-linkage Prosthetic Hand laser scanning imaging system based on MOEMS devices, it is characterised in that：Including FPGA (1), pulse
Laser (3), the first lens (4), beam splitter (5), the second lens (6), photodiode (7), transmitter module (10), reception mould
Block (16), APD detectors (19), signal processing circuit (20)；FPGA (1) sends trigger signal, triggering to pulse laser (3)
Pulse laser (3) sends a branch of narrow laser pulse, and laser pulse is after the first lens (4), into beam splitter (5), point
Laser pulse is divided into two beams by beam device；A part converges at photodiode (7), photodiode (7) by the second lens (6)
The electric signal of generation inputs to FPGA (1) as timing commencing signal；Another part is radiated at mesh after transmitter module (10)
Mark on (15), converged at by the echo that target (15) reflects or scatters after receiving module (16) reception on APD detectors (19),
The current signal that APD detectors (19) are produced generates timing stop signal after signal processing circuit (20), inputs to FPGA
(1) stop timing, FPGA calculates the distance between system and target by certain moment identification method, realize laser three-D into
Picture；
Described transmitter module (10) includes transmitting MOEMS (11), voltage control signal (9), the 3rd lens (12), the 4th lens
(13)；Its signal is moved towards：The laser pulse isolated from beam splitter is beaten on transmitting MOEMS speculums first, is produced by FPGA
Raw control signal control transmitting MOEMS rotations, generate the circular scanning shape of Prosthetic Hand non-uniform resolution, saturating by the 3rd
It is radiated at after mirror, the expanding of the 4th lens, collimating effect in target；
Described receiving module (16) includes the 5th lens (17), receives MOEMS (18), voltage control signal (9)；Its signal is walked
Xiang Wei：The convergence effect of the 5th lens is first passed around from target reflection or the echo scattered, it is anti-then to be received MOEMS speculums
Penetrate on APD detectors；Also control receives MOEMS rotations to the control signal that now FPGA is produced simultaneously, realizes two MOEMS's
Double-linkage；
Described transmitting MOEMS (11) and reception MOEMS (18) by FPGA (1) voltage control signals (9) produced while controlled
System, realizes Double-linkage.
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| CN106646512B (en) * | 2016-12-29 | 2019-01-08 | 北京理工大学 | A kind of terrible imaging method and system based on bionic visual mechanism |
| CN107016353B (en) * | 2017-03-13 | 2019-08-23 | 北京理工大学 | A kind of integrated method and system of variable resolution target detection and identification |
| CN108828622B (en) * | 2018-06-25 | 2022-03-04 | 北京理工大学 | Resolution-variable beam splitting method for liquid crystal optical phased array |
| CN109490908B (en) * | 2018-11-07 | 2023-07-25 | 深圳市微觉未来科技有限公司 | Line scanning laser radar and scanning method |
| CN109814128B (en) * | 2019-01-23 | 2020-08-11 | 北京理工大学 | High-resolution rapid imaging system and method combining time flight and associated imaging |
| CN111709881A (en) * | 2020-06-21 | 2020-09-25 | 北京理明智能科技有限公司 | Human-eye-like dynamic resolution multimode fusion imaging method |
| CN111854697B (en) * | 2020-06-22 | 2021-08-10 | 中国船舶重工集团公司第七一六研究所 | Recognition positioning attitude determination system based on visual sensor |
| CN112008248B (en) * | 2020-07-29 | 2021-05-18 | 大连理工大学 | Method for generating surface pattern track by adopting laser double-scanning strategy |
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| CN103344962B (en) * | 2013-07-12 | 2014-12-31 | 北京理工大学 | Laser pulse distance measurement method based on light path differences |
| CN103760570B (en) * | 2014-02-18 | 2016-01-20 | 北京理工大学 | A kind of laser three-dimensional imaging system based on Prosthetic Hand vision mechanism |
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